Steering Using Sinusoids in Motion Planning of Unicycle Mobile Robots: Design and Experiment

This paper presents a motion planning approach for a unicycle robot under nonholonomic constraints. We shall show a sinusoidal steering method to generate feasible trajectories that efficiently guide the robot to desired configurations. Unlike previous work based on chained systems with sinusoidal inputs, our approach derives a parameterized trajectory through integration and establishes conditions for reaching the target. Simulations validate the method's ability to perform complex maneuvers and avoid obstacles. The approach is further enhanced through auxiliary parameter estimation in experiments, improving tracking control and achieving successful motion planning.